CN108839033A - A kind of municipal road lamp climbing level robot - Google Patents
A kind of municipal road lamp climbing level robot Download PDFInfo
- Publication number
- CN108839033A CN108839033A CN201810690249.8A CN201810690249A CN108839033A CN 108839033 A CN108839033 A CN 108839033A CN 201810690249 A CN201810690249 A CN 201810690249A CN 108839033 A CN108839033 A CN 108839033A
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- Prior art keywords
- cylinder
- pole
- climbing
- connection
- link arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of municipal road lamp climbing level robot of the invention, including pole-climbing lower body, pole-climbing upper body, clamp bar arrangement, mechanical arm, mechanical gripper, pole-climbing upper body is connected to the top of pole-climbing lower body, clamp bar arrangement is separately fixed at the two sides of pole-climbing lower body and pole-climbing upper body, mechanical arm is fixedly mounted on the top of pole-climbing upper body, and mechanical gripper is fixedly mounted on the end of mechanical arm；The present invention realizes pole-climbing movement by pole-climbing lower body, pole-climbing upper body and clamp bar arrangement, and the angle of crawl light bulb is adjusted by mechanical arm, realizes the movement to change the bulb by mechanical gripper, and lower cost of labor improves work efficiency.
Description
Technical field
The present invention relates to municipal maintenance circuits to maintain technical field, in particular to a kind of municipal road lamp climbing level robot.
Background technique
With the continuous fast development of social economy, urban transportation is more and more flourishing, and the street lamp of both sides of the road is also increasingly
It is more, however the maintenance of city street lamp presently mainly carries out the maintenance work of city street lamp but at problem by professional electrician,
This mode is time-consuming and laborious and risk is very high, in addition may also result in traffic jam, influences urban transportation normal operation, therefore
Need a kind of Intelligentized mechanical equipment to carry out source for street light maintenance work, general equipment is complementary equipment, such as application No. is
201621432981.8 disclosing one kind《It is a kind of for repairing the Simple lifter of street lamp》, mainly include pedestal, mounting base,
The quick-speed jigs of pressure lever mechanism are locked, and this equipment is lifted to electrician near street lighting position, it is desired nonetheless to manual operation
Source for street light maintenance is carried out, is not fully solved the above problem, it is therefore desirable to a kind of novel source for street light maintenance equipment.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of municipal road lamp climbing level robot, by pole-climbing lower body, pole-climbing upper body and
Clamp bar arrangement realizes pole-climbing movement, and the angle of crawl light bulb is adjusted by mechanical arm, is changed the bulb by mechanical gripper realization dynamic
Make, lower cost of labor improves work efficiency.
Technical solution used in the present invention is：A kind of municipal road lamp climbing level robot, including on pole-climbing lower body, pole-climbing
Body, clamp bar arrangement, mechanical arm, mechanical gripper, the pole-climbing upper body are connected to the top of pole-climbing lower body, and clamp bar arrangement is solid respectively
The two sides of pole-climbing lower body and pole-climbing upper body are scheduled on, mechanical arm is fixedly mounted on the top of pole-climbing upper body, and mechanical gripper is fixedly mounted
In the end of mechanical arm.
The pole-climbing lower body includes lower frame, the first cylinder mount frame, the first cylinder, linear bearing, clamp bar arrangement, institute
The first cylinder mount frame stated is mounted on the middle position of lower frame upper cross-beam, and the first cylinder is fixed on the first cylinder mount frame
On, linear bearing is separately fixed at the two sides of lower frame upper cross-beam, and clamp bar arrangement is respectively and fixedly installed to the bottom of lower frame
Two inner sides.
The pole-climbing upper body includes upper frame, optical axis guide rod, clamp bar arrangement, and the optical axis guide rod is fixedly mounted respectively
It in the two sides of upper frame crossbeam, and penetrates into the linear bearing of pole-climbing lower body, the middle position of upper frame crossbeam and pole-climbing
The cylinder rod of first cylinder of lower body is fixedly mounted, and clamp bar arrangement is respectively and fixedly installed to two insides of upper frame.
The clamp bar arrangement includes the second cylinder, the second cylinder mount frame, wheel bracket, first rotating shaft, guide wheel, steel wire
Rope, rolling bearing units, the second shaft, swing rod, spring, spring support, snap finger, second cylinder are fixed on the installation of the second cylinder
On frame, wheel bracket is inserted at first rotating shaft both ends, and guide wheel is nested into first rotating shaft, and the second both ends of the shaft is inserted into rolling bearing units
In, swing rod one end is fixed with the second shaft, and the other end is connect with snap finger, and spring one end is fixed with spring support, the other end and pendulum
Bar is fixed, and wirerope one end is connect with the cylinder rod of the second cylinder, and the other end connect around guide wheel with swing rod.
The mechanical arm includes that pedestal, first hydraulic cylinder, the first link arm, second hydraulic cylinder, the second link arm, third are hydraulic
Cylinder, third link arm, the 4th hydraulic cylinder, speed reducer mounting base, described first hydraulic cylinder one end are connect with pedestal, the other end and
The connection of one link arm, first link arm one end are connect with pedestal, and the other end is connect with the second link arm, and second hydraulic cylinder one end connects with first
Arm connection, the other end are connect with the second link arm, and second link arm one end is connect with the first link arm, and the other end is connect with third link arm,
Third hydraulic cylinder one end is connect with the second link arm, and the other end is connect with third link arm, and third link arm one end is connect with the second link arm,
The other end is connect with speed reducer mounting base, and the 4th hydraulic cylinder one end is connect with third link arm, and the other end and speed reducer mounting base connect
It connects.
The mechanical gripper includes speed reducer, third cylinder mounting base, third cylinder, jaw mount, clamping jaw, described
Speed reducer be mounted on the speed reducer mounting base of mechanical arm, the projecting shaft of third cylinder mounting base and one end speed reducer is fixed to pacify
Dress, the other end and jaw mount are fixedly mounted, and clamping jaw and jaw mount are rotatablely installed, third cylinder one end and third cylinder
Mounting base connection, the other end are connect with clamping jaw.
Beneficial effects of the present invention：（1）The operating principle that the present invention simulates human body pole-climbing is designed, compact-sized light
Just, operation of manually ascending a height is avoided, the generation and cost of labor of safety accident are reduced；（2）The present invention is using multivariant
Mechanical arm and mechanical gripper realize the movement to change the bulb, and high degree of automation improves work efficiency.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is pole-climbing part overall structure diagram of the invention.
Fig. 3 is pole-climbing lower body structural schematic diagram of the invention.
Fig. 4 is pole-climbing upper body structural schematic diagram of the invention.
Fig. 5 is clamp bar arrangement structural schematic diagram of the invention.
Fig. 6 is mechanical arm structural schematic diagram of the invention.
Fig. 7 is mechanical gripper structural schematic diagram of the invention.
Drawing reference numeral：1- pole-climbing lower body；2- pole-climbing upper body, 3- clamp bar arrangement；4- mechanical arm；5- mechanical gripper；Under 101-
Frame body；The first cylinder mount frame of 102-；The first cylinder of 103-；104- linear bearing；201- upper frame；202- optical axis guide rod；
The second cylinder of 301-；The second cylinder mount frame of 302-；303- wheel bracket；304- first rotating shaft；305- guide wheel；306- steel wire
Rope；307- rolling bearing units；The second shaft of 308-；309- swing rod；310- spring；311- spring support；312- snap finger；The bottom 401-
Seat；402- first hydraulic cylinder；The first link arm of 403-；404- second hydraulic cylinder；The second link arm of 405-；406- third hydraulic cylinder；
407- third link arm；The 4th hydraulic cylinder of 408-；409- speed reducer mounting base；501- speed reducer；502- third cylinder mounting base；
503- third cylinder；504- jaw mount；505- clamping jaw.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment：As shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of municipal road lamp climbing level robot shown in Fig. 7, including
Pole-climbing lower body 1, pole-climbing upper body 2, clamp bar arrangement 3, mechanical arm 4, mechanical gripper 5.Pole-climbing upper body 2 is connected to the upper of pole-climbing lower body 1
Side, clamp bar arrangement 3 are separately fixed at the two sides of pole-climbing lower body 1 and pole-climbing upper body 2, and mechanical arm 4 is fixedly mounted on pole-climbing upper body 2
Top, mechanical gripper 5 are fixedly mounted on the end of mechanical arm 4.
Pole-climbing lower body 1 includes lower frame 101, the first cylinder mount frame 102, the first cylinder 103, linear bearing 104, clamping bar
Device 3, the first cylinder mount frame 102 are mounted on the middle position of 101 upper cross-beam of lower frame, and the first cylinder 103 is fixed on
On one cylinder mount frame 102, linear bearing 104 is separately fixed at the two sides of 101 upper cross-beam of lower frame, and clamp bar arrangement 3 is distinguished
It is fixedly mounted on the inner side of bottom two of lower frame 101.
Pole-climbing upper body 2 includes upper frame 201, optical axis guide rod 202, clamp bar arrangement 3, and optical axis guide rod 202 is fixedly mounted respectively
It in the two sides of 201 crossbeam of upper frame, and penetrates into the linear bearing 104 of pole-climbing lower body 1, the centre of 201 crossbeam of upper frame
The cylinder rod of first cylinder 103 of position and pole-climbing lower body 1 is fixedly mounted, and clamp bar arrangement 3 is respectively and fixedly installed to upper frame 201
Two inside.
Clamp bar arrangement 3 includes the second cylinder 301, the second cylinder mount frame 302, wheel bracket 303, first rotating shaft 304, leads
305, wirerope 306, rolling bearing units 307, the second shaft 308, swing rod 309, spring 310, spring support 311, snap finger 312 are taken turns,
Second cylinder 301 is fixed on the second cylinder mount frame 302,304 both ends of first rotating shaft insertion wheel bracket 303, and 305 sets of guide wheel
Enter into first rotating shaft 304,308 both ends of the second shaft are inserted into rolling bearing units 307, and 309 one end of swing rod and the second shaft 308 are solid
Fixed, the other end is connect with snap finger 312, and 310 one end of spring and spring support 311 are fixed, and the other end and swing rod 309 are fixed, steel wire
306 one end of restricting are connect with the cylinder rod of the second cylinder 301, and the other end connect around guide wheel 305 with swing rod 309.
Mechanical arm 4 includes pedestal 401, first hydraulic cylinder 402, the first link arm 403, second hydraulic cylinder 404, the second link arm
405, third hydraulic cylinder 406, third link arm 407, the 4th hydraulic cylinder 408, speed reducer mounting base 409,402 one end of first hydraulic cylinder
It is connect with pedestal 401, the other end is connect with the first link arm 403, and 403 one end of the first link arm is connect with pedestal 401, the other end and
The connection of two link arms 405,404 one end of second hydraulic cylinder are connect with the first link arm 403, and the other end is connect with the second link arm 405, and second
405 one end of link arm is connect with the first link arm 403, and the other end is connect with third link arm 407,406 one end of third hydraulic cylinder and second
Link arm 405 connects, and the other end connect with third link arm 407, and 407 one end of third link arm is connect with the second link arm 405, the other end and
Speed reducer mounting base 409 connects, and 408 one end of the 4th hydraulic cylinder is connect with third link arm 407, the other end and speed reducer mounting base
409 connections.
Mechanical gripper 5 includes speed reducer 501, third cylinder mounting base 502, third cylinder 503, jaw mount 504, folder
Pawl 505, speed reducer 501 are mounted on the speed reducer mounting base 409 of mechanical arm 4, third cylinder mounting base 502 and one end speed reducer
501 projecting shaft is fixedly mounted, and the other end and jaw mount 504 are fixedly mounted, and clamping jaw 505 and jaw mount 504 rotate
Installation, 503 one end of third cylinder are connect with third cylinder mounting base 502, and the other end is connect with clamping jaw 505.
The working principle of the invention：When original state, the clamp bar arrangement 3 of pole-climbing lower body 1 and pole-climbing upper body 2 all clamps street lamp
First cylinder 103 of bar and pole-climbing lower body 1 is in contraction state, when start-up operation is, the clamp bar arrangement 3 of pole-climbing upper body 2 first
Work, the second cylinder 301, which is shunk, to be pulled down swing rod 309 by wirerope 306 so that snap finger 312 leaves light pole, so
The first cylinder 103 stretches out so that pole-climbing upper body 2 moves upwards afterwards, the second cylinder in the clamp bar arrangement 3 of following pole-climbing upper body 2
301 protrude through the effect of wirerope 306 and spring 310 so that swing rod 309 has been put upwards so that snap finger 312 clamps street lamp
The clamp bar arrangement 3 of bar, next step pole-climbing lower body 1 works, so that its snap finger 312 unclamps light pole, then the first cylinder 103 is shunk
So that pole-climbing lower body 1 moves upwards, the clamp bar arrangement 3 of following pole-climbing lower body 1 works, so that its snap finger 312 clamps light pole,
It loops back and forth like this and realizes pole-climbing movement；When robot climbs to suitable position, mechanical arm 4 and mechanical gripper 5 are started to work,
First hydraulic cylinder 402 controls the swing angle of entire mechanical arm, and second hydraulic cylinder 404 controls the second link arm 405, third link arm
407 and the whole swing angle of speed reducer mounting base 409, third hydraulic cylinder 406 control third link arm 407 and speed reducer mounting base
409 whole swing angles, the 4th hydraulic cylinder 408 control the swing angle of speed reducer mounting base 409, and third cylinder 503 is stretched
Out with contraction so that clamping jaw 505 is clamped and unclamped, 501 work belt of speed reducer moves the rotation of mechanical gripper 5 and twists light bulb to realize
Movement.
Claims (1)
1. a kind of municipal road lamp climbing level robot, including pole-climbing lower body（1）, pole-climbing upper body（2）, clamp bar arrangement（3）, mechanical arm
（4）, mechanical gripper（5）, it is characterised in that：The pole-climbing upper body（2）It is connected to pole-climbing lower body（1）Top, clamp bar arrangement
（3）It is separately fixed at pole-climbing lower body（1）With pole-climbing upper body（2）Two sides, mechanical arm（4）It is fixedly mounted on pole-climbing upper body（2）'s
Top, mechanical gripper（5）It is fixedly mounted on mechanical arm（4）End；
The pole-climbing lower body（1）Including lower frame（101）, the first cylinder mount frame（102）, the first cylinder（103）, linear axis
It holds（104）, clamp bar arrangement（3）, first cylinder mount frame（102）It is mounted on lower frame（101）The centre of upper cross-beam
Position, the first cylinder（103）It is fixed on the first cylinder mount frame（102）On, linear bearing（104）It is separately fixed at lower frame
（101）The two sides of upper cross-beam, clamp bar arrangement（3）It is respectively and fixedly installed to lower frame（101）The inner side of bottom two；
The pole-climbing upper body 2 includes upper frame 201, optical axis guide rod（202）, clamp bar arrangement（3）, the optical axis guide rod
（202）It is respectively and fixedly installed to upper frame（201）The two sides of crossbeam, and penetrate into pole-climbing lower body（1）Linear bearing（104）
In, upper frame（201）The middle position of crossbeam and pole-climbing lower body（1）The first cylinder（103）Cylinder rod be fixedly mounted, clamping bar
Device（3）It is respectively and fixedly installed to upper frame（201）Two inside；
The clamp bar arrangement（3）Including the second cylinder（301）, the second cylinder mount frame（302）, wheel bracket（303）, first
Shaft（304）, guide wheel（305）, wirerope（306）, rolling bearing units（307）, the second shaft（308）, swing rod（309）, spring
（310）, spring support（311）, snap finger（312）, second cylinder（301）It is fixed on the second cylinder mount frame（302）On,
First rotating shaft（304）Wheel bracket is inserted at both ends（303）, guide wheel（305）It is nested into first rotating shaft（304）In, the second shaft
（308）Rolling bearing units are inserted at both ends（307）In, swing rod（309）One end and the second shaft（308）It is fixed, the other end and snap finger
（312）Connection, spring（310）One end and spring support（311）It is fixed, the other end and swing rod（309）It is fixed, wirerope（306）
One end and the second cylinder（301）Cylinder rod connection, the other end bypass guide wheel（305）With swing rod（309）Connection；
The mechanical arm（4）Including pedestal（401）, first hydraulic cylinder（402）, the first link arm（403）, second hydraulic cylinder
（404）, the second link arm（405）, third hydraulic cylinder（406）, third link arm（407）, the 4th hydraulic cylinder（408）, speed reducer installation
Seat（409）, the first hydraulic cylinder（402）One end and pedestal（401）Connection, the other end and the first link arm（403）Connection, the
One link arm（403）One end and pedestal（401）Connection, the other end and the second link arm（405）Connection, second hydraulic cylinder（404）One end
With the first link arm（403）Connection, the other end and the second link arm（405）Connection, the second link arm（405）One end and the first link arm
（403）Connection, the other end and third link arm（407）Connection, third hydraulic cylinder（406）One end and the second link arm（405）Connection, separately
One end and third link arm（407）Connection, third link arm（407）One end and the second link arm（405）Connection, the other end and speed reducer are pacified
Fill seat（409）Connection, the 4th hydraulic cylinder（408）One end and third link arm（407）Connection, the other end and speed reducer mounting base
（409）Connection；
The mechanical gripper（5）Including speed reducer（501）, third cylinder mounting base（502）, third cylinder（503）, clamping jaw peace
Fill seat（504）, clamping jaw（505）, the speed reducer（501）It is mounted on mechanical arm（4）Speed reducer mounting base（409）On, the
Three cylinder mounting bases（502）With one end speed reducer（501）Projecting shaft be fixedly mounted, the other end and jaw mount（504）Gu
Dingan County's dress, clamping jaw（505）With jaw mount（504）Rotational installation, third cylinder（503）One end and third cylinder mounting base
（502）Connection, the other end and clamping jaw（505）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690249.8A CN108839033A (en) | 2018-06-28 | 2018-06-28 | A kind of municipal road lamp climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690249.8A CN108839033A (en) | 2018-06-28 | 2018-06-28 | A kind of municipal road lamp climbing level robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839033A true CN108839033A (en) | 2018-11-20 |
Family
ID=64200784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810690249.8A Withdrawn CN108839033A (en) | 2018-06-28 | 2018-06-28 | A kind of municipal road lamp climbing level robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839033A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500321A (en) * | 2018-12-13 | 2019-03-22 | 广州自强汽车零部件有限公司 | A kind of double benders |
| CN110271621A (en) * | 2019-08-07 | 2019-09-24 | 国网安徽省电力有限公司电力科学研究院 | A kind of obstacle detouring rod rising device and its step on bar method |
-
2018
- 2018-06-28 CN CN201810690249.8A patent/CN108839033A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500321A (en) * | 2018-12-13 | 2019-03-22 | 广州自强汽车零部件有限公司 | A kind of double benders |
| CN110271621A (en) * | 2019-08-07 | 2019-09-24 | 国网安徽省电力有限公司电力科学研究院 | A kind of obstacle detouring rod rising device and its step on bar method |
| CN110271621B (en) * | 2019-08-07 | 2021-10-01 | 国网安徽省电力有限公司电力科学研究院 | Obstacle-crossing pole climbing device and pole climbing method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181120 |